Staged Training Report ✓ Complete

Run ID: shoulder_session_multiheight
Generated: 2026-02-19 02:47:15
Stages Completed: 1
Total Elapsed Time: 04:23:26

Configuration

No config defaults changed since last commit.

All Configuration Parameters (60 parameters)
ParameterValue
total_samples10000000
batch_size1
stage_samples_multiplier100000000000
update_interval250
window_size100
num_best_models_to_keep1
sampling_modeLoss-weighted
loss_weight_temperature0.5
loss_weight_refresh_interval50
stop_on_divergenceTrue
divergence_gap0.002
divergence_ratio1.5
divergence_patience50
divergence_min_updates10
val_spike_threshold2.0
val_spike_window15
val_spike_frequency0.75
val_plateau_patience250
val_plateau_min_delta0.0001
custom_lr0.0001
disable_lr_scalingTrue
custom_warmup-1
lr_min_ratio0.001
resume_warmup_ratio0.05
plateau_factor0.8
plateau_patience15
preserve_optimizerFalse
preserve_schedulerTrue
samples_modeTrain additional samples
num_random_obs_to_visualize2
selected_frame_offset3
runs_per_stage5
serial_runsTrue
clean_old_checkpointsTrue
enable_baselineFalse
baseline_runs_per_stage1
run_idshoulder_session_multiheight
enable_wandbTrue
wandb_projectdevelopmental-robot-movement
lr_sweep.lr_min1e-07
lr_sweep.lr_max0.01
lr_sweep.phase_a_num_candidates5
lr_sweep.phase_a_seeds1
lr_sweep.phase_a_time_budget_min3.0
lr_sweep.phase_a_survivor_count2
lr_sweep.phase_b_seeds3
lr_sweep.phase_b_time_budget_min10.0
lr_sweep.ranking_metricmedian_best_val
lr_sweep.min_samples_before_timeout1000
lr_sweep.min_evals_before_stop5
lr_sweep.save_sweep_stateTrue
plateau_sweep.enabledTrue
plateau_sweep.plateau_ema_alpha0.9
plateau_sweep.plateau_improvement_threshold0.0005
plateau_sweep.plateau_patience25
plateau_sweep.cooldown_updates5
plateau_sweep.max_sweeps_per_stage2
plateau_sweep.min_sweep_improvement0.0
initial_sweep_enabledTrue
stage_time_budget_min180

Timing Summary

Stage Plateau Sweeps Sweep Time Training Time Stage Total
Stage 1 2 00:28:28 00:24:39 00:53:07
TOTAL 2 00:28:28 00:24:39 00:53:07

Plateau Sweep Details

Total Sweeps: 2
Stages with Sweeps: 1 of 1
Total Sweep Time: 00:28:28
Average Sweep Duration: 00:14:14

Stage 1: 2 sweeps

LR Progression: 5.6e-04 → 3.2e-05 → 3.2e-05

Sweep # Triggered At (samples) Wall Time Selected LR Duration
1 43,500 00:16:31 3.16e-05 00:14:15
2 56,750 00:35:49 3.16e-05 00:14:12

Stage Results

Stage Best Loss Stop Reason Samples Trained Time Sweeps LR (Initial→Final)
Stage 1 0.031296 max_sweeps (2) 8,000 00:53:07 2 5.6e-04→3.2e-05

Total Plateau Sweeps: 2

Stop Reason Breakdown

Loss Across Full Training Run

Loss Detail (Post Initial Drop)

Multi-Run Statistics

Total Runs: 5
Average Best Loss: 0.059088 ± 0.014843
Best Overall: 0.031296
Worst Overall: 0.071543

Stage 1 (5 runs)

Run Best Loss Stop Reason Samples Time Selected
1 0.065185 max_sweeps (2) 14,000 00:46:53
2 0.031296 max_sweeps (2) 8,000 00:53:07
3 0.056849 max_sweeps (2) 17,250 00:57:59
4 0.070568 max_sweeps (2) 6,500 00:35:31
5 0.071543 max_sweeps (2) 7,750 00:53:13
Mean: 0.059088 ± 0.014843 Min: 0.031296 / Max: 0.071543 Range: 0.040248

Best Checkpoint

Name: best_model_auto_session_so101_combined_20260218_135214_shoulder_session_multiheight_00063500_cont_val_0.031296.pth
Stage: 1
Hybrid Loss (full session): 0.052840

Learning Rate Timeline with Plateau Sweeps

Stage Progression

Stage Orig Loss Train Loss Time Samples Stop Reason
1 ⭐ 0.052840 0.031296 00:53:07 8000 max_sweeps (2)

Hybrid Loss Over Original Session (per Stage)

Stage 1 (Best) - Hybrid Loss: 0.052840

Sample Counts

Cumulative Across All Stages

Per Stage

Stage 1 (Best) - Total Samples: 8,000

Best Checkpoint Inference

Selected Frame 3

Action 0

Action 1

Action 2

Random Observations

Observation 740

Action 0
Action 1
Action 2

Observation 959

Action 0
Action 1
Action 2